本發明是有關於一種導航系統，特別是指一種在即時拍攝的街道影像上重疊顯示導引資訊的即時影像導航系統。The present invention relates to a navigation system, and more particularly to an instant image navigation system that superimposes navigation information on a street image captured in real time.
傳統衛星導航系統是在預先繪製的二維地圖上標示箭頭、路徑等導引資訊，使用者必須自行將導航系統顯示的二維地圖與眼前的立體實景比對。在某些狀況下，例如遇複雜的街道叉路、高架橋或圓環等，二維地圖與立體實景之間存在相當差異，容易導致使用者無法了解導引資訊。The traditional satellite navigation system displays navigation information such as arrows and paths on a pre-drawn two-dimensional map. The user must compare the two-dimensional map displayed by the navigation system with the stereoscopic real scene in front of the eyes. In some situations, such as complex street forks, viaducts or rings, there are considerable differences between two-dimensional maps and stereoscopic real scenes, which tends to make it impossible for users to understand the navigation information.
因此，近年來導航系統業者針對特定地點會進行拍照且收集交通號誌等資料，並繪製立體畫面；當車輛接近前述特定地點，則以立體畫面取代二維地圖，在立體畫面上標示導引資訊，讓使用者輕鬆看懂導航系統所導引的方向。但實際上，基於成本考量，導航系統業者僅能針對部分地點，例如交通流量大且用路人容易產生困擾的地點製作立體畫面。當使用者行經沒有製作立體畫面的地點，仍然只能觀看簡單的二維地圖。Therefore, in recent years, navigation system operators take photos for specific locations and collect traffic signs and other information, and draw stereoscopic images; when the vehicle approaches the specific location, the two-dimensional map is replaced by a stereoscopic image, and the navigation information is marked on the stereoscopic image. To make it easy for users to understand the direction that the navigation system guides. In reality, however, based on cost considerations, navigation system operators can only create stereoscopic images for certain locations, such as traffic with large traffic volumes and where pedestrians are likely to be troubled. When the user walks through a location where no stereoscopic images are produced, only a simple two-dimensional map can still be viewed.
更重要的是，當建築物拆除或改建而使地標消失或改變，導航系統業者難以立即更新資料庫。在此情況下，當使用者行經樣貌改變的地點，導航系統卻顯示舊的立體畫面，更容易導致使用者發生混淆。More importantly, it is difficult for navigation system operators to update the database immediately when the building is demolished or remodeled to make the landmark disappear or change. In this case, when the user changes the location of the appearance, the navigation system displays the old stereoscopic picture, which is more likely to cause confusion among the user.
因此，本發明之目的，即在提供一種在即時拍攝的街道影像上重疊顯示導引資訊的即時影像導航系統。Accordingly, it is an object of the present invention to provide an instant image navigation system that superimposes navigation information on an instantly photographed street image.
本發明之再一目的，在於提供一種在即時拍攝的街道影像上重疊顯示導引資訊的即時影像導航方法。Still another object of the present invention is to provide an instant image navigation method in which navigation information is superimposed and displayed on a street image that is captured immediately.
於是，本發明即時影像導航系統，包含一顯示幕、一用以提供系統運動資訊的慣性導航裝置，及一用以規劃行駛路線的導航單元，其特徵在於該系統還包含：一供擷取影像之影像擷取單元、一將該影像擷取單元擷取之影像即時顯示於該顯示幕的影像處理單元、一定位單元，及一控制單元。Therefore, the instant image navigation system of the present invention comprises a display screen, an inertial navigation device for providing system motion information, and a navigation unit for planning a travel route, wherein the system further comprises: a image for capturing The image capturing unit and the image captured by the image capturing unit are instantly displayed on the image processing unit of the display screen, a positioning unit, and a control unit.
定位單元與該慣性導航裝置及該導航單元連接，並依據該慣性導航裝置提供之資訊計算出一目前位置的地理座標，並接收該導航單元提供的下一個需要即時影像導引之目標位置的地理座標。Positioning unit is connected to the inertial navigation device and the navigation unit, and calculates a geographic coordinate of a current location according to the information provided by the inertial navigation device, and receives a geographic location of the next target location required by the navigation unit that requires immediate image guidance. coordinate.
控制單元依據該目前位置地理座標、目標位置地理座標及一預先儲存之與該影像擷取單元相關之相機參數資料，計算出一目標位置在該顯示幕中的座標作為用來標示一指引記號的一指引記號座標；並使該指引記號標示於該顯示幕的指引記號座標處而重疊顯示於該即時影像上。The control unit calculates a coordinate of a target position in the display screen as a marker for indicating a guide mark according to the current location geographic coordinate, the target location geographic coordinate, and a pre-stored camera parameter data associated with the image capturing unit. a guide mark coordinate; and the guide mark is marked on the guide mark coordinate of the display screen and is superimposed on the instant image.
較佳地，該控制單元計算該指引記號座標的方式，是先求出該導航裝置之目前位置與該目標位置之間在平面二垂直方向上及高度的距離，再計算該目標位置於該影像擷取單元之影像感應器上的成像位置，最後求出該目標位置於顯示幕上的座標，作為該指引記號座標。Preferably, the control unit calculates the coordinate of the guide symbol by first finding a distance between the current position of the navigation device and the target position in a vertical direction and a height of the plane, and then calculating the target position on the image. The imaging position on the image sensor of the unit is captured, and finally the coordinate of the target position on the display screen is obtained as the coordinate of the guiding symbol.
較佳地，該定位單元利用其獲得的目前位置座標以及目標位置座標計算出兩者距離，並檢視目前位置是否已到達一需要進行即時影像導引之地點，若是，才通知該影像處理單元顯示該即時影像，且通知控制單元計算該指引記號座標及標示該指引座標。該定位單元還檢視目前位置是否已通過該目標位置，若是，則通知該影像處理單元停止將影像顯示於該顯示幕。Preferably, the positioning unit calculates the distance between the current position coordinates and the target position coordinates obtained by the positioning unit, and checks whether the current position has reached a location where real-time image guidance is required, and if so, notifies the image processing unit to display. The instant image, and the notification control unit calculates the guide symbol coordinates and marks the guide coordinates. The positioning unit further checks whether the current location has passed the target location, and if so, notifies the image processing unit to stop displaying the image on the display screen.
較佳地，該即時影像導航系統，還包含一記憶體，該定位單元將目前位置地理座標以及目標位置地理座標分別儲存於該記憶體的一目前位置資料及一目標位置資料中且持續更新；該控制單元與該記憶體連接並自該目前位置資料及該目標位置資料中讀取資料。Preferably, the real-time image navigation system further includes a memory unit, wherein the current location geographic coordinates and the target location geographic coordinates are respectively stored in a current location data and a target location data of the memory and continuously updated; The control unit is coupled to the memory and reads data from the current location data and the target location data.
本發明即時影像導航方法利用前述導航系統執行，並包含以下步驟：The instant image navigation method of the present invention is performed by using the foregoing navigation system, and includes the following steps:
(a)獲取一目前位置的地理座標，及一下一個要即時影像導引之目標位置的地理座標；(a) acquire the geographic coordinates of a current location and the geographic coordinates of a target location to be image-guided;
(b)將由一影像擷取單元擷取之即時影像顯示於一顯示幕；(b) displaying an instant image captured by an image capturing unit on a display screen;
(c)依據該目前位置地理座標、目標位置地理座標及一預先儲存之與該影像擷取單元相關之相機參數資料，計算出一目標位置在該導航系統的一顯示幕中的座標，作為用來標示一指引記號的一指引記號座標；及(c) calculating a coordinate of a target position in a display screen of the navigation system according to the current location geographic coordinate, the geographic location of the target location, and a pre-stored camera parameter data associated with the image capturing unit, a guide mark indicating a guide mark; and
(d)使該指引記號標示於該顯示幕的指引記號座標處而重疊顯示於該即時影像上。(d) The indicator mark is marked on the coordinate mark coordinate of the display screen and displayed on the instant image in an overlapping manner.
較佳地，該步驟(c)中，計算該指引記號座標的方式，是先求出該導航系統之目前位置與該目標位置之間在平面二垂直方向上及高度的距離，再計算該目標位置於該影像擷取單元的成像位置，最後求出該目標位置於該顯示幕上的座標，作為該指引記號座標。Preferably, in the step (c), the manner of calculating the coordinate of the guide symbol is to first determine the distance between the current position of the navigation system and the target position in the vertical direction of the plane and the height, and then calculate the target. Positioned at the imaging position of the image capturing unit, and finally find the coordinates of the target position on the display screen as the guiding symbol coordinates.
較佳地，該步驟(b)及步驟(c)、(d)是當該目前位置已到達一需要進行即時影像導引之地點時才觸發，且當該目前位置已通過該目標位置，則停止將影像顯示於該顯示幕。Preferably, the step (b) and the steps (c) and (d) are triggered when the current location has reached a location where instant image guidance is required, and when the current location has passed the target location, then Stop displaying the image on the display.
較佳地，該步驟(a)所獲取的目前位置地理座標以及目標位置地理座標分別儲存於一記憶體中且持續更新，作為執行步驟(c)的資料來源。Preferably, the current location geographic coordinates and the target location geographic coordinates acquired in the step (a) are respectively stored in a memory and continuously updated as a data source for performing step (c).
本發明之功效在於，藉由可取得的相機參數及顯示幕畫素，搭配即時取得的地理座標等資訊，可求出目標位置在顯示幕的座標而在即時拍攝的影像進行精確的標示，讓使用者在顯示幕上清楚看懂導引資訊。The utility model has the advantages that the camera parameters and the display screen pixels can be obtained, and the information such as the geographical coordinates obtained in real time can be used to obtain the coordinates of the target position on the display screen, and the images captured in the instant are accurately marked. The user clearly understands the navigation information on the display screen.
有關本發明之前述及其他技術內容、特點與功效，在以下配合參考圖式之一個較佳實施例的詳細說明中，將可清楚的呈現。The above and other technical contents, features and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments.
參閱圖1，本發明即時影像導航裝置100之較佳實施例供安裝於一汽車，包含一殼體(圖未示)、設於殼體內的一導航單元1與一慣性導航裝置(Inertial Navigation System，簡稱INS)2、一設於殼體表面的顯示幕3，及為實現即時影像導航而新增或調整設定的一定位單元4、一控制單元5、一影像擷取單元61、一影像處理單元62，及一儲存有一目標位置資料71、一目前位置資料72及一相機參數資料73的記憶體7。Referring to FIG. 1, a preferred embodiment of the instant image navigation device 100 of the present invention is mounted on a vehicle, and includes a casing (not shown), a navigation unit 1 disposed in the casing, and an inertial navigation system (Inertial Navigation System). , referred to as INS) 2, a display screen 3 disposed on the surface of the casing, and a positioning unit 4, a control unit 5, an image capturing unit 61, and an image processing added or adjusted for real-time image navigation. The unit 62, and a memory 7 storing a target location data 71, a current location data 72, and a camera parameter profile 73.
該導航單元1主要用以規劃行駛路線，其依據衛星定位(GPS)資料得知目前位置座標，並依據使用者輸入的目的地計算出最佳行駛路線或最短行駛路線。在本實施例，該導航單元1依據其規劃的行駛路線及衛星定位資料，通知定位單元4下一個需要即時影像導引之目標位置的相關資料，內容包含目標位置座標。The navigation unit 1 is mainly used to plan a driving route, and the current location coordinates are obtained according to satellite positioning (GPS) data, and the optimal driving route or the shortest driving route is calculated according to the destination input by the user. In this embodiment, the navigation unit 1 notifies the positioning unit 4 of the next relevant data that needs the target position of the instant image guidance according to the planned driving route and the satellite positioning data, and the content includes the target position coordinate.
慣性導航裝置2一般而言具有加速規及陀螺儀等能提供方向與加速度等運動資訊的構件，在本實施例可依據定位單元4發出的控制指令，將系統100目前朝向哪個方向前進、加速度值等運動資訊提供給定位單元4。The inertial navigation device 2 generally has a component such as an acceleration gauge and a gyroscope that can provide motion information such as direction and acceleration. In this embodiment, according to a control command issued by the positioning unit 4, the system 100 is currently oriented in which direction, the acceleration value. The motion information is supplied to the positioning unit 4.
以下配合參閱圖2說明本實施例即時影像導航系統100執行之即時影像導航方法。The instant image navigation method performed by the instant image navigation system 100 of the present embodiment will be described below with reference to FIG.
當即時影像導航功能啟動，導航單元1會不斷地依據行駛路線以及GPS資料找出行駛路線中下一個需要即時影像導引之目標位置，例如圖3所示之圈選處，為一多岔路口，並通知定位單元4該目標位置之相關資料，內容包含目標位置座標(步驟S11)。When the instant image navigation function is activated, the navigation unit 1 continuously finds the next target position in the driving route that needs immediate image guidance according to the driving route and the GPS data, for example, the circled position shown in FIG. 3 is a multiple intersection. And notifying the positioning unit 4 of the relevant information of the target location, the content including the target location coordinates (step S11).
定位單元4依據導航單元1提供的目標位置相關資料，將目標位置座標存放於記憶體7的目標位置資料72記憶空間中。此外，定位單元4還持續對慣性導航裝置2發出控制指令，使慣性導航裝置2提供系統100運動方向、加速度值等資訊，該定位單元4則一次次地依據所接收資訊計算出系統100目前在三度空間中相對於起始點的相對位置與方向，獲得一目前位置地理座標及方向，並存放於記憶體7的目前位置資料71記憶空間中(步驟S12)。The positioning unit 4 stores the target position coordinates in the memory space of the target position data 72 of the memory 7 according to the target position related data provided by the navigation unit 1. In addition, the positioning unit 4 continuously sends a control command to the inertial navigation device 2 to enable the inertial navigation device 2 to provide information such as the motion direction and acceleration value of the system 100. The positioning unit 4 calculates the system 100 according to the received information again and again. The relative position and direction of the three-dimensional space with respect to the starting point obtains a current position geographic coordinate and direction, and is stored in the current position data 71 memory space of the memory 7 (step S12).
定位單元4利用其獲得的目前位置座標以及目標位置座標計算出兩者距離，並檢視系統100目前位置是否到達一需要即時影像導引之地點(步驟S13)。一般來說，該地點距離目標位置約100公尺。本步驟持續進行，直到系統100目前位置到達該地點，則進入步驟S14及S15。The positioning unit 4 calculates the distance between the current position coordinates and the target position coordinates obtained by the positioning unit 4, and checks whether the current position of the system 100 reaches a place where instant image guidance is required (step S13). Generally, the location is approximately 100 meters from the target location. This step continues until the current location of system 100 reaches the location, and proceeds to steps S14 and S15.
在步驟S14，影像處理單元62開始將目前影像擷取單元61擷取的影像顯示於顯示幕3，如圖4所示。In step S14, the image processing unit 62 starts displaying the image captured by the current image capturing unit 61 on the display screen 3, as shown in FIG.
另一方面在步驟S15，控制單元5依據地圖資料庫(圖未示)、記憶體7中儲存之目前位置座標、目標位置座標、相機參數資料及系統100離地高度H(安裝系統100時設定或另外以高度感應器取得)，以及GPS資料，計算要在顯示幕3中標示一指引記號的一指引記號座標。配合參閱圖5及圖6，該相機參數資料內容包括焦距f(鏡頭611到影像感應器612的距離)、影像感應器612的寬cW及高cH，此外，還包括顯示幕3之像素pW×pH。詳細計算方法說明如下：On the other hand, in step S15, the control unit 5 is configured according to the map database (not shown), the current position coordinates stored in the memory 7, the target position coordinates, the camera parameter data, and the height H of the system 100 (when the system 100 is installed). Or in addition to the height sensor, and the GPS data, a guide symbol coordinate to indicate a guide mark in the display screen 3 is calculated. Referring to FIG. 5 and FIG. 6, the camera parameter data content includes a focal length f (the distance between the lens 611 and the image sensor 612), a width cW and a high cH of the image sensor 612, and further includes a pixel pW of the display screen 3. pH. The detailed calculation method is as follows:
I. 依據目前位置座標及目標位置座標，計算出距離D及夾角a，進一步求出平面二垂直方向上的距離X=D‧sin(a)及Y=D‧sin(a)。I. Calculate the distance D and the angle a according to the current position coordinates and the target position coordinates, and further calculate the distance X=D‧sin(a) and Y=D‧sin(a) in the vertical direction of the plane.
II. 讀取系統100離地高度H，並由地圖資料庫取得目標位置與目前位置的海拔高度而計算出高度差H’，再計算出目標位置與系統100的高度差dH=H-H’。II. Reading the height H of the system 100 from the ground, and obtaining the altitude difference H′ from the map database to obtain the altitude of the target position and the current position, and then calculating the height difference dH=H-H′ between the target position and the system 100. .
III.計算目標位置於影像擷取單元61之影像感應器612上的成像位置。以影像感應器612中心為原點，座標(x,h)中，x=f‧X/Y，座標h=f‧dH/Y。III. Calculate the imaging position of the target position on the image sensor 612 of the image capturing unit 61. Taking the center of the image sensor 612 as the origin, in the coordinates (x, h), x=f‧X/Y, and the coordinates h=f‧dH/Y.
IV.最後，計算目標位置於顯示幕3上的座標(px,py)，作為一指引記號座標，其中px=x‧pW/cW，py=h‧pH/cH。IV. Finally, the coordinates (px, py) of the target position on the display screen 3 are calculated as a guide mark coordinate, where px=x‧pW/cW, py=h‧pH/cH.
在步驟S16，控制器5在該顯示幕3的座標(px,py)處標示一指引記號，例如一向下的箭頭，箭頭頂端位置對應該指引記號座標(px,py)；並使該指引記號重疊顯示於即時影像上而如圖7所示。如此一來，使用者可直覺地了解導航系統100究竟是導引哪一條路。In step S16, the controller 5 marks a guide mark (px, py) at the coordinate (px, py) of the display screen 3, for example, a downward arrow, the top position of the arrow corresponds to the mark coordinate (px, py); and the guide mark is made The overlay is displayed on the live image as shown in FIG. In this way, the user can intuitively know which way the navigation system 100 is guiding.
隨著車輛持續前進，定位單元4持續更新的目前位置座標，高度差H’也隨之改變，目標位置在顯示幕3上的座標也跟著改變，前述步驟S15及S16持續進行而使指引記號保持標示於目標位置於顯示幕上的座標處。As the vehicle continues to advance, the positioning unit 4 continuously updates the current position coordinates, and the height difference H' also changes, and the coordinates of the target position on the display screen 3 also change, and the foregoing steps S15 and S16 continue to keep the guiding marks maintained. Marked at the target position on the coordinates of the display.
此外，定位單元4持續計算目標位置與目前位置之間的距離，檢視系統100目前位置是否通過目標位置(步驟S17)。當通過該目標位置，影像處理單元62即停止將影像顯示於顯示幕3(步驟S18)，此時，導航單元1會再通知定位單元4下一個需要即時影像導引的目標位置而重新流程。Further, the positioning unit 4 continuously calculates the distance between the target position and the current position, and checks whether the current position of the system 100 passes the target position (step S17). When the target processing position is passed, the image processing unit 62 stops displaying the image on the display screen 3 (step S18). At this time, the navigation unit 1 notifies the positioning unit 4 of the next target position requiring immediate image guidance and restarts the process.
控制單元5判斷即時影像導引功能是否停止(步驟S19)，例如使用者是否操作系統100關閉此功能，若是，則結束流程；若否，則持續進行本流程。The control unit 5 determines whether the instant image guidance function is stopped (step S19), for example, whether the user operates the system 100 to turn off the function, and if so, ends the process; if not, the process continues.
綜上所述，本發明即時影像導航系統100能夠在車輛接近即時影像導引之地點時，切換為影像模式並在影像中直接疊上指引記號，讓使用者直覺地看懂導航系統100所指引的方位；此外，由於影像是真實的，即便附近建築物等地標與導航系統業者記錄不同，本發明導航系統100還是能適用，而不需要另外收集資料、另外製作立體畫面，故確實能達成本發明之目的。In summary, the instant image navigation system 100 of the present invention can switch to the image mode when the vehicle approaches the location of the instant image guidance and directly superimpose the guide mark in the image, so that the user can intuitively understand the guidance of the navigation system 100. In addition, since the image is real, even if the landmarks such as nearby buildings are different from the navigation system records, the navigation system 100 of the present invention can be applied without separately collecting data and creating a stereoscopic image. The purpose of the invention.
惟以上所述者，僅為本發明之較佳實施例而已，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.
100．．．即時影像導引系統100. . . Instant image guidance system
1．．．導航單元1. . . Navigation unit
2．．．慣性導航裝置2. . . Inertial navigation device
3．．．顯示幕3. . . Display screen
4．．．定位單元4. . . Positioning unit
5．．．控制單元5. . . control unit
61．．．影像擷取單元61. . . Image capture unit
611．．．鏡頭611. . . Lens
612．．．影像感應器612. . . Image sensor
62．．．影像處理單元62. . . Image processing unit
7．．．記憶體7. . . Memory
71．．．目標位置資料71. . . Target location data
72．．．目前位置資料72. . . Current location data
73．．．相機參數資料73. . . Camera parameter data
S11~S19．．．步驟S11~S19. . . step
圖1是一系統方塊圖，說明本發明即時影像導航系統之較佳實施例的系統架構；1 is a system block diagram illustrating a system architecture of a preferred embodiment of the instant image navigation system of the present invention;
圖2是一流程圖，說明本實施例執行之即時影像導航方法；2 is a flow chart illustrating an instant image navigation method performed by the embodiment;
圖3是一示意圖，說明本實施例所說明要即時影像導引之地點的地圖；FIG. 3 is a schematic diagram showing a map illustrating a location of an instant image guide according to the embodiment; FIG.
圖4是一示意圖，說明一影像擷取單元所擷取之影像；4 is a schematic diagram showing an image captured by an image capturing unit;
圖5及圖6是用以說明計算該指引記號座標所需之物件的相關資訊及相對關係；及5 and FIG. 6 are diagrams for explaining related information and relative relationships of objects required for calculating the coordinates of the guide mark; and
圖7是一示意圖，說明在該影像上疊上明顯的指引記號。Figure 7 is a schematic illustration of the overlaying of significant guide marks on the image.
S11~S19．．．步驟S11~S19. . . step
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW099112666ATWI426237B (en) | 2010-04-22 | 2010-04-22 | Instant image navigation system and method |
| US13/090,415US9014964B2 (en) | 2010-04-22 | 2011-04-20 | Navigation apparatus capable of providing real-time navigation images |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW099112666ATWI426237B (en) | 2010-04-22 | 2010-04-22 | Instant image navigation system and method |
| Publication Number | Publication Date |
|---|---|
| TW201137313A TW201137313A (en) | 2011-11-01 |
| TWI426237Btrue TWI426237B (en) | 2014-02-11 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW099112666ATWI426237B (en) | 2010-04-22 | 2010-04-22 | Instant image navigation system and method |
| Country | Link |
|---|---|
| US (1) | US9014964B2 (en) |
| TW (1) | TWI426237B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8723855B2 (en)* | 2011-11-29 | 2014-05-13 | Pixart Imaging Inc. | On-chip power-down generation for LDO-based mutual capacitance touchscreen controllers |
| US9677890B2 (en) | 2013-01-10 | 2017-06-13 | Intel Corporation | Positioning and mapping based on virtual landmarks |
| CN108062100A (en)* | 2017-12-19 | 2018-05-22 | 成都圭目机器人有限公司 | A kind of line-marking method of autonomous graticule detection robot |
| TWI657409B (en) | 2017-12-27 | 2019-04-21 | 財團法人工業技術研究院 | Superimposition device of virtual guiding indication and reality image and the superimposition method thereof |
| TWI678546B (en)* | 2018-12-12 | 2019-12-01 | 緯創資通股份有限公司 | Distance detection method, distance detection system and computer program product |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0406946B2 (en)* | 1989-07-04 | 2001-07-18 | Koninklijke Philips Electronics N.V. | Method of displaying navigation data for a vehicle in an image of the vehicle environment, a navigation system for performing the method, and a vehicle comprising a navigation system |
| TWM333553U (en)* | 2007-10-16 | 2008-06-01 | Olemap Inc | Architecture of sight navigation |
| TW200944830A (en)* | 2008-02-04 | 2009-11-01 | Tele Atlas Bv | System and method for map matching with sensor detected objects |
| TW201011259A (en)* | 2008-09-12 | 2010-03-16 | Wistron Corp | Method capable of generating real-time 3D map images and navigation system thereof |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1751499B1 (en)* | 2004-06-03 | 2012-04-04 | Making Virtual Solid, L.L.C. | En-route navigation display method and apparatus using head-up display |
| US8423292B2 (en)* | 2008-08-19 | 2013-04-16 | Tomtom International B.V. | Navigation device with camera-info |
| DE602005016311D1 (en)* | 2005-06-06 | 2009-10-08 | Tomtom Int Bv | NAVIGATION DEVICE WITH CAMERA INFO |
| US8666661B2 (en)* | 2006-03-31 | 2014-03-04 | The Boeing Company | Video navigation |
| KR100815152B1 (en)* | 2006-11-07 | 2008-03-19 | 한국전자통신연구원 | Complex navigation device using multiple filter fusion and method of providing navigation information using same |
| CA2705254C (en)* | 2007-07-04 | 2015-10-13 | Saab Ab | Arrangement and method for providing a three dimensional map representation of an area |
| JP5328252B2 (en)* | 2008-07-30 | 2013-10-30 | アルパイン株式会社 | Position detection apparatus and position detection method for navigation system |
| US9599474B2 (en)* | 2009-04-06 | 2017-03-21 | Honeywell International Inc. | Technique to improve navigation performance through carouselling |
| GB2469632A (en)* | 2009-04-20 | 2010-10-27 | J & M Inertial Navigation Ltd | Portable rescue apparatus for guiding a person back to a reached waypoint position |
| US9080872B2 (en)* | 2009-04-22 | 2015-07-14 | Gps Tuner Kit | GPS tuner |
| IL207116A (en)* | 2009-08-10 | 2014-12-31 | Stats Llc | System and method for location tracking |
| US20110190774A1 (en)* | 2009-11-18 | 2011-08-04 | Julian Nikolchev | Methods and apparatus for performing an arthroscopic procedure using surgical navigation |
| CA2721892A1 (en)* | 2009-11-19 | 2011-05-19 | James Roy Bradley | Device and method for disabling mobile devices |
| US8855929B2 (en)* | 2010-01-18 | 2014-10-07 | Qualcomm Incorporated | Using object to align and calibrate inertial navigation system |
| CN102713980A (en)* | 2010-02-01 | 2012-10-03 | 英特尔公司 | Extracting and mapping three dimensional features from geo-referenced images |
| US20110238308A1 (en)* | 2010-03-26 | 2011-09-29 | Isaac Thomas Miller | Pedal navigation using leo signals and body-mounted sensors |
| EP2556339B8 (en)* | 2010-04-09 | 2018-12-26 | TomTom Navigation B.V. | Method and device for generating a cost function |
| US20130185165A1 (en)* | 2012-01-18 | 2013-07-18 | Myspace, Llc | Media exchange platform |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0406946B2 (en)* | 1989-07-04 | 2001-07-18 | Koninklijke Philips Electronics N.V. | Method of displaying navigation data for a vehicle in an image of the vehicle environment, a navigation system for performing the method, and a vehicle comprising a navigation system |
| TWM333553U (en)* | 2007-10-16 | 2008-06-01 | Olemap Inc | Architecture of sight navigation |
| TW200944830A (en)* | 2008-02-04 | 2009-11-01 | Tele Atlas Bv | System and method for map matching with sensor detected objects |
| TW201011259A (en)* | 2008-09-12 | 2010-03-16 | Wistron Corp | Method capable of generating real-time 3D map images and navigation system thereof |
| Publication number | Publication date |
|---|---|
| US9014964B2 (en) | 2015-04-21 |
| US20110264367A1 (en) | 2011-10-27 |
| TW201137313A (en) | 2011-11-01 |
| Publication | Publication Date | Title |
|---|---|---|
| US20110109618A1 (en) | Method of displaying navigation data in 3d | |
| KR100815153B1 (en) | Intersection guidance device and navigation method of vehicle navigation using camera | |
| US20130162665A1 (en) | Image view in mapping | |
| US20110103651A1 (en) | Computer arrangement and method for displaying navigation data in 3d | |
| KR101444685B1 (en) | Method and Apparatus for Determining Position and Attitude of Vehicle by Image based Multi-sensor Data | |
| JP2014137321A (en) | Position coordinate conversion system, position coordinate conversion method, on-vehicle device, global coordinate measurement device and position coordinate conversion program | |
| TWI426237B (en) | Instant image navigation system and method | |
| JP6828934B1 (en) | Navigation devices, navigation systems, navigation methods, navigation programs | |
| US20220058844A1 (en) | Attention guidance for ground control labeling in street view imagery | |
| JP5955662B2 (en) | Augmented reality system | |
| JP2009140402A (en) | INFORMATION DISPLAY DEVICE, INFORMATION DISPLAY METHOD, INFORMATION DISPLAY PROGRAM, AND RECORDING MEDIUM CONTAINING INFORMATION DISPLAY PROGRAM | |
| JP5883723B2 (en) | 3D image display system | |
| CN102288180B (en) | Real-time image navigation system and method | |
| JP2007206014A (en) | Navigation device | |
| JP2011243076A (en) | Object management image generation device and object management image generation program | |
| JP5262232B2 (en) | Image orientation display method and apparatus, and photograph | |
| TWI750821B (en) | Navigation method, system, equipment and medium based on optical communication device | |
| JP2013024686A (en) | Mobile mapping system, method for measuring route object using the same, and position specification program | |
| JP2007122247A (en) | Automatic landmark information creation method and system | |
| WO2019119358A1 (en) | Method, device and system for displaying augmented reality poi information | |
| JP2007263849A (en) | Navigation device | |
| US20240410711A1 (en) | Augmented Reality Street Annotations | |
| KR20160060278A (en) | Apparatus and method for displaying buliding data around the junction when driving in an alley | |
| JP2007101214A (en) | Own vehicle position display device, its method, and program | |
| HK1151617A (en) | Method of displaying navigation data in 3d |